具有自适应能力管道机器人的设计与运动分析

提出并研制一种基于自适应移动机构的管内探查机器人。通过对机器人传动机构的设计,实现了在不增加驱动电动机数量的前提下,机器人具有适应不同管道直径的能力。机器人的传动机构能够在管道直径改变时,自动地改变行走部件的输出形式以克服障碍,完成越障任务。在没有应用链式多节构型的情况下,机器人配备一个驱动电动机就能够完成越障任务,改善了传统螺旋驱动式机器人越障能力不高的问题,同时也提高了对驱动电动机的使用效率。为了分析试验中发现的机器人保持架自转现象,对机器人进行运动分析,并由分析结果对相关部分进行改进。试验结果表明,该机器人能够在内径为190 mm和180 mm的管道中行进,并能够顺利通过两节管道间形成的同心台阶障碍,验证了自适应移动机构的行走能力。

一种适用于多指灵巧手的机电一体化驱动器概念

本文提出了一种机电一体化驱动器的概念,这种驱动器能够将电机的旋转运动转换为直线运动,并在不外加力和力矩传感器的基础上利用运动转换副上产生的微应变来估算电机的输出力矩和驱动器末端的牵引力信息。利用高精度、高灵敏度并带有温度和噪声补偿电路的应变片来测量微应变,以取得稳定而可靠的测量结果。应变片直接贴在驱动器的主体结构表面可以最小化尺寸,而且可以实现机电一体化而不是机械-电子集成系统。仿真实验表明,这种方法和传统的电流估算法相比,可以减少由于噪音和波动带来的电流信号误差,得到更加精确的信息,并且(与加入力或者力矩传感器相比)能够有效缩小外型尺寸,同时去除不必要的机械与电子接口,因此增加了系统的鲁棒性。

大型铰接并联六维测力平台摩擦建模

在已有制造工艺及标定技术基础上,为进一步改善大型铰接并联六维测力平台的测量精度,本文基于螺旋理论和影响系数原理,引入符号函数建立了Stewart结构大型铰接六维测力平台的摩擦模型。文中提出了关节摩擦对铰接并联六维测力平台测量精度的影响矩阵及I、H类误差表达式,绘制了在不同外载和关节摩擦系数条件下,六维测力平台的I、II类误差曲线,并总结丁关节摩擦和平台自重对测力平台测量精度的影响规律。为具有普通球形铰链人型Stewart平台六维测力下台精度的提高和改善提供了理论基础。

并联结构六维力传感器性能分析与优化设计

基于螺旋理论和空间模型理论绘制了Stewart平台型六维力传感器的性能图谱,总结了结构参数对传感器各性能指标的影响规律;在此基础上对大型Stewart平台六维力传感器的结构进行了非线性单目标、多目标优化设计,为具有普通球形铰链大型Stewart平台六维力传感器的设计和优化提供了依据。

基于立体视觉的移动机器人自主导航定位系统

描述了一种基于立体视觉的移动机器人自主导航定位系统。该系统采用双目立体视觉完成环境特征的 3D信息提取 ,实时计算出机器人相对作业目标的位姿 (6D)关系 ,导引移动机器人控制系统按目标导向进行运动。系统在相对位姿计算中采用旋动(Screw)理论 ,将带约束的多变量函数的非线性优化问题转化为线性方程组的最小二乘问题 ,简化了计算复杂性。实验表明 ,这个导航定位系统在定位精度和数据处理速度上均可满足机器人导航的要求。

LW-1型机器人重复位姿精度检测系统

本文介绍了一种非接触式（ＬＷ－１型）机器人重复位姿精度检测系统．该系统采用电涡流传感器作为位置信息传感器．以这种传感器的检测性能为基础，研究设计了相应的传感器测量结构、数学模型和坐标变换求解方法，使系统技术指标及使用性能达到了检测机器人重复位姿精度的实用要求．该系统具有鲁棒性强、设计合理、结构简单、造价低廉等特点，可以满足我国现阶段在机器人学研究和机器人开发应用方面的需求

遥控作业移动机器人环境建模方法研究

本文介绍了用于遥控机器人作业虚拟环境生成的建模方法．重点研究了基于人机交互的双目立体视觉和多视点建模方法，以克服视觉自动建模方法计算复杂、鲁棒性差的缺点．给出了环境建模的实验系统和实验结果。

藏北措勤盆地白垩纪碳酸盐岩沉积相及缺氧事件响应研究

As a part of Gangdisi-Nianqingtanggula plate, Cuoqin basin (N 29°3O'～33°20'; E 80°～90°) is situated in the west of the Tibet autonomous Region, with an area of 100000 square kilometers. Cretaceous shallow-water carbonate is widely distributed in this basin. Its accumulative thickness is more than 1000 meters. Sedimentary facies of cretaceous shallow-water carbonate and carbon isotope feature are studied in details here. On basis of two main sections researched comprehensively, five facies marks are found. With the combination of Wilson's model and ramp model, a platform-mild slope model are put forward, which is thought to be a comprehensive model for this area. There are three sedimentary circles which are comprised of terrestrial clastic tidal flat and carbonate platform facies in Duoba Member of Duoni Formation. Langshan Formation is mainly comprised of carbonate platform facies. We also studied the carbon isotope features influenced by Cretaceous Aptian-Albian's oceanic anoxic events (OAE). After correlating the δ~(13)C curves of the studied section with that of Peregrina Canyon section in Mexico, we find that there are similar δ~(13)C curves fluctuation styles, namely there is also a δ~(13)C positive excursion in shallow-water carbonate in the studied area, and the degree of δ~(13)C positive excursion in shallow-water carbonate is much higher. There are two main causes which should interpret above δ~(13)C positive excursion feature: on the one hand ,much organic carbon take much 12C off when they are buried with a higher speed during the OAE, which lead to the ~(12)C rise of oceanic total dissolved carbon (TDC),on the other hand, during the OAE there are stratification structures in pale-ocean, in the upper mixed layer with high carbon fixation (HCML). There are so much plankton organisms which absorb much ~(12)C as the ~(13)C of shallow-water carbonate in this layer rise higher. Furthermore, on the basis of the theories of carbonate isotope strata, we suggest that the currently used boundary between Aptian and Albian in the studied area is possibly above the international one, which means the main parts of Duoba Member of Duoni Foramatiom in this area should be belong to Albian in stead of Aptian.

序列视觉信息整合的特性与机制

One of the great puzzles in the psychology of visual perception is that the visual world appears to be a coherent whole despite our viewing it through temporally discontinuous series of eye fixations. The investigators attempted to explain this puzzle from the perspective of sequential visual information integration. In recent years, investigators hypothesized that information maintained in the visual short-term memory (VSTM) could become visual mental images gradually during time delay in visual buffer and integrated with information perceived currently. Some elementary studies had been carried out to investigate the integration between VSTM and visual percepts, but further research is required to account for several questions on the spatial-temporal characteristics, information representation and mechanism of integrating sequential visual information. Based on the theory of similarity between visual mental image and visual perception, this research (including three studies) employed the temporal integration paradigm and empty cell localization task to further explore the spatial-temporal characteristics, information representation and mechanism of integrating sequential visual information (sequential arrays). The purpose of study 1 was to further explore the temporal characteristics of sequential visual information integration by examining the effects of encoding time of sequential stimuli on the integration of sequential visual information. The purpose of study 2 was to further explore the spatial characteristics of sequential visual information integration by investigating the effects of spatial characteristics change on the integration of sequential visual information. The purpose of study 3 was to explore the information representation of information maintained in the VSTM and integration mechanism in the process of integrating sequential visual information by employing the behavioral experiments and eye tracking technology. The results indicated that: (1) Sequential arrays could be integrated without strategic instruction. Increasing the duration of the first array could cause improvement in performance and increasing the duration of the second array could not improve the performance. Temporal correlation model was not fit to explain the sequential array integration under long-ISI conditions. (2) Stimuli complexity influenced not only the overall performance of sequential arrays but also the values of ISI at asymptotic level of performance. Sequential arrays still could be integrated when the spatial characteristics of sequential arrays changed. During ISI, constructing and manipulating of visual mental image of array 1 were two separate processing phases. (3) During integrating sequential arrays, people represented the pattern constituted by the objects' image maintained in the VSTM and the topological characteristics of the objects' image had some impact on fixation location. The image-perception integration hypothesis was supported when the number of dots in array 1 was less than empty cells, and the convert-and-compare hypothesis was supported when the number of the dot in array 1 was equal to or more than empty cells. These findings not only contribute to make people understand the process of sequential visual information integration better, but also have significant practical application in the design of visual interface.

面孔身份与面部表情识别中的区分度效应

Whether facial identity and facial expression was processed independently has long been a controversy. Studies at levels of experimental, neuropsychological, functional imaging and cell-recording all failed to consistently support either independent or interdependent processing. Present study proposed that familiarity and discriminability of facial identity and expression was important variable in mediating the relation between facial identity and facial expression recognition. Effects of familiarity on recognition of facial identity and expression had been examined (e.g. Ganel & Goshen-Gottstein, 2004) but the role of the discriminability in recognition of facial identity and expression has not yet been carefully examined. To examine the role of discriminability of facial identity and expression, 8 experiments were conducted with Garner’s speeded classification task in recognition of identity and expression of unfamiliar faces. The discriminability of facial identity and expression was manipulated, and the measurements of Garner interference and facilitation indicated that: 1. The discriminability of facial identity and expression mediate the relation between facial identity and expression recognition. Four possible discriminability combinations between identity and expression predicted 4 interference patterns between them. Low discriminability accounted for the interference either in facial identity judgment or in facial expression judgment task. 2. The measurements of eye movements indicated that either in facial identity or in facial expression recognition low discriminability led to a narrowly-distributed eye fixation pattern while high discriminability led to a widely-distributed eye fixation pattern. 3. By combining the morphing technique with the Garner paradigm, study 2 successfully demonstrated the linar relation between discriminability and Garner facilitation effects, confirmed the discriminability effects in the measurements of Garner facilitation effects.. 4. By providing the varying information of facial expression, study 2 revealed that varying information improved the discriminability of facial expression, and then enhanced the recognition of facial expression. All the results indicated that the discriminability of facial identity and expression could mediate the independent or interdependent processing between them, and the discriminability effects on recognition of identity and expression of unfamiliar faces was identified. The results from interference effects and facilitation effects both indicated that the dimensional relation between facial identity and expression was separable but not asymmetric claimed by previous studies（Schweinberger et al, 1998, 1999）. Absolutedly independent or interdependent processing between facial identity and expression recognition were both impossible, discriminability of identity and expression mediated the relation between them. The discriminability effects revealed in present study could explain the conflicts between existing findings well.

听力障碍与听力正常群体视觉注意发展及其机制的比较

One of the most important functions in the individual development is the interaction and integration of each sensory input. There exist two competing theories, i.e. the deficiency theory and the compensatory theory, regarding the origin and nature of changes in visual functions observed after auditory deprivation. The deficiency theory proposed that integrative processes are essential for normal development. In contrast, the compensatory theory stated that the loss of one sense may be met by a greater reliance upon, therefore an enhancement of the remaining senses. Given that hearing impaired children’s learning depends primarily on visual information, it is important to recognize the differences of visual attention between them and their hearing age-mates. Differences among age groups could exist in either selectivity or sustained attention. Study 1 and study 2 explored the selective and sustained attention development of hearing impaired and hearing students with average cognitive ability, aged from 7 years to college students. The analysis and discussion of the results are based on the visual attention development as well as deficiency theory and compensatory theory. According to the results of the study 1 and study 2, the spatial distribution and controlling of the visual attention between hearing impaired and hearing students were also investigated in the study 3 and study 4. The present work showed that: Firstly, both hearing impaired and hearing participants had the similar developmental trajectory of the sustained attention. The ability of children’s sustained attention appeared to improve with age, and in adolescence it reached the peak. The hearing impaired participants had the comparable sustained attention skills to the matched hearing ones. Besides, the results of the hearing impaired participants showed that they could maintain their attention and vigilance on the current task over the observation period. Secondly, group differences of visual attention development were found between hearing impaired and hearing participants. In the childhood, the visual attention developmental speed of the hearing impaired children was slower than that of the hearing ones. The selective attention skill of the hearing impaired were not comparable to the hearing ones, however, their selective skill improved with age, so in the adulthood, hearing impaired students showed the slight advantage in the selective attention skill over the hearing ones. Thirdly, hearing impaired and hearing participants showed the similar spatial distribution in the attention resources. In the low perceptual load condition, both participants were suffered great interference of the distrator at the fixation. In contrast, in the high perceptual load condition, hearing impaired adults were suffered more interference of the peripheral distractor, which suggested that they distributed more attention resources to the peripheral field when faced difficult tasks. Fourthly, both groups showed similar processing in the visual attention tasks. That is, they both searched the target with only the color feature in a parallel way, but in a serial way while processing orientation feature and the features with the combination of the color and orientation. Furthermore, the results indicated that two groups show similar ways in the attention controlling. In summary, the present study showed that visual attention development was dependent upon the integration of multimodal sensory information. Because of the interaction and integration of the input from various sensory, it has a negative impact on the intact sensory at the early stage of one sensory loss, however, it can better the functions of other intact sensory gradually with development and practice.

CULTIVO e uso do Estilosantes-campo-grande.

Equipe multidisciplinar: Ademir Hugo Zimmer, CNPGC; Armindo Neivo Kichel, CNPGC; Bela Grof; Carlos Maurício Soares de Andrade; Celso Dornelas Fernandes, CNPGC; Francisco Assis Rolim Pereira; Haroldo Pires Queiroz, CNPGC; Hortência Maria Abranches Purcino; Jaqueline Rosemeire Verzignassi, CNPGC; José Alexandre Agiova da Costa, CNPGC; José Marcelino Sobrinho (in memorian); José Marques da Silva, CNPGC; José Raul Valério, CNPGC; Leônidas da Costa Schalcher Valle; Manuel Cláudio Motta Macedo, CNPGC; Maria José D´Ávila Charchar; Maria do Socorro Bona Nascimento; Marta Pereira da Silva; Rosângela Maria Simeão Resende; Roza Maria Shunke. Histórico e descrição da cultivar. Principais atributos do estilosantes-campo-grande. Fixação biológica de nitrogênio e valor nutritivo. Desempenho animal. Ssutentabilidade de sistemas. Adaptação ao clima. Exigência de solo e adubação. Estabelecimento do estilosantes-campo-grande. Preparo da área para semeadura. Preparo mínimo ou plantio direto. Semeadura. Manejo de plantas daninhas nas pastagens consorciadas com o estilosantes-campo-grande. Manejo do pastejo para o estabelecimento do consórcio. Manejo da pastagem visando à persistência do consórcio. Pragas. Doenças. Outros usos do estilosantes-campo-grande. Uso correto do estilosantes-campo-grande.

Fixação de nitrogênio pela soja em sistemas de cultivo contínuo e rotacionado com pecuária nos Cerrados.

Quantificou-se a contribuição da fixação biológica de N2 (FBN) na cultura da soja em um Latossolo Vermelho-Escuro, utilizando-se a técnica da abundância natural do isótopo 15N. Foram estudados cinco tratamentos: 1) soja de primeiro ano em solo cultivado por quatro anos com Brachiaria decumbens, sob pastejo, e preparado mecanicamente (arado, grade pesada e niveladora); 2) mesmas condições anteriores, mas com plantio direto da soja; 3) soja em cultivo contínuo por cinco anos, como cultura de verão, sem plantio de milheto no outono/ inverno, e solo preparado de forma convencional (arado, grade pesada e niveladora); 4) soja com cultivo contínuo por cinco anos, com cultivo de outono/inverno de milheto (Pennisetum atropurpureum) e preparo de solo conservacionista (arado de disco, aiveca e subsolador); 5) mesmas condições anteriores, mas com plantio direto. Amostras de plantas foram coletadas no estádio vegetativo, enchimento de grãos, na maturação, e na colheita final de grãos. Em cada coleta analisaram-se as produções de matéria seca (MS) e teores de N e 15N. As produções de MS e N total acumulado foram semelhantes no estádio vegetativo, mas as plantas no plantio direto mostraram taxas de FBN acima de 50%, enquanto que as de plantio convencional estavam abaixo de 40%. No enchimento de grãos, as produções de MS, N total e as taxas de FBN(entre 60% e 68%) foram semelhantes em todos os sistemas de preparo do solo. Na maturação dos grãos, o preparo de solo convencional resultou numa maior produção de MS do que no plantio direto. Os grãos apresentaram a maior parte do N fixado (66% a 82%), ficando entre 51% e 68% para a parte aérea e entre 15% e 32% para as raízes. No balanço do N total obtido por FBN e o que foi alocado aos grãos, obtiveram-se valores indicativos de que a maior parte do N fixado seria retirada do sistema na colheita de grãos, o que foi confirmado na colheita final. A soja de plantio direto mostrou um balanço ligeiramente mais positivo do que a soja de plantio convencional. Como a soja é pouco dependente do N do solo, usando eficientemente o N de fixação, este seria poupado como resíduo para uso de culturas subseqüentes, o que explicaria o efeito benéfico imediato observado na prática em sistemas produtivos de rotação de cultura entre soja e cereais ou pastagem. No entanto, os resultados obtidos indicam que a soja, que tem um índice de colheita alto (proporção do N total nos grãos em relação ao N total da planta), não contribui significativamente para aumento dos teores de N total do solo capazes de beneficiar por longo tempo as culturas em sucessão.

Towards Autonomous Motion Vision

Earlier, we introduced a direct method called fixation for the recovery of shape and motion in the general case. The method uses neither feature correspondence nor optical flow. Instead, it directly employs the spatiotemporal gradients of image brightness. This work reports the experimental results of applying some of our fixation algorithms to a sequence of real images where the motion is a combination of translation and rotation. These results show that parameters such as the fization patch size have crucial effects on the estimation of some motion parameters. Some of the critical issues involved in the implementaion of our autonomous motion vision system are also discussed here. Among those are the criteria for automatic choice of an optimum size for the fixation patch, and an appropriate location for the fixation point which result in good estimates for important motion parameters. Finally, a calibration method is described for identifying the real location of the rotation axis in imaging systems.

Structure from Stereo and Motion

Stereopsis and motion parallax are two methods for recovering three dimensional shape. Theoretical analyses of each method show that neither alone can recover rigid 3D shapes correctly unless other information, such as perspective, is included. The solutions for recovering rigid structure from motion have a reflection ambiguity; the depth scale of the stereoscopic solution will not be known unless the fixation distance is specified in units of interpupil separation. (Hence the configuration will appear distorted.) However, the correct configuration and the disposition of a rigid 3D shape can be recovered if stereopsis and motion are integrated, for then a unique solution follows from a set of linear equations. The correct interpretation requires only three points and two stereo views.